A Study on A Unified Approach of Denavit-Hartenberg Parameters on Derivation of Dynamics Equations of Two-wheel Robots

Abstract

This paper presents a study on the derivation of the dynamics equations of two-wheel robot systems by using Denavit-Hartenberg(D-H) parameters defined for robot manipulators. A wheeled-mobile robot and a two-wheel robot of combining an inverted pendulum system and a wheeled-mobile robot share a similar kinematics and dynamics. Since the wheeled-mobile robots behave like a simple inertial system under some assumptions, linear control schemes are applied accordingly by ignoring kinematics constraints in practice. The simplified dynamics of two-wheel robot systems without nonholonomic constraints by ignoring wheel dynamics is analyzed. The kinematics and dynamics of two-wheel robots are derived by defining D-H parameters. Experimental studies of controlling a circular trajectory of a two-wheel robot are conducted to show the feasibility of the proposal.